IPACS Electronic library

Optimization of a Six Degree of Freedom Micro Parallel
Robot

Sergiu-Dan Stan, Radu Balan, Vistrian Maties

In this paper a mono-objective optimum design
procedure for a six-degree of freedom parallel micro robot is
outlined by using optimality criterion of workspace and
numerical aspects. A mono-objective optimization problem is
formulated by referring to a basic performance of parallel
robots. Additional objective functions can be used to extend the
proposed design procedure to more general but specific design
problems. A kinematic optimization was performed to maximize
the workspace of the mini parallel robot. Optimization was
performed using Genetic Algorithms.